cmake_minimum_required(VERSION 3.0.2)
project(uav)


find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  mavros
  mavros_msgs
  roscpp
  sensor_msgs
  std_msgs
  tf
)

find_package(cmake_modules REQUIRED)
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN_DEFINITIONS})

set(QPOASES_INLUDE_DIRS /usr/local/include/qpOASES)
include_directories(${QPOASES_INLUDE_DIRS})

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES uav
#  CATKIN_DEPENDS geometry_msgs mavros roscpp std_msgs
#  DEPENDS system_lib
)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
)


#add_executable(ecbf_node src/offboard_att_cas.cpp)
add_executable(ecbf_node src/backup/offboard_accel.cpp)
target_link_libraries(ecbf_node ${catkin_LIBRARIES} qpOASES)
add_executable(acc_node src/accel_pub.cpp)
target_link_libraries(acc_node ${catkin_LIBRARIES})
#add_executable(ecbf_node src/offboard_incr.cpp)
#target_link_libraries(ecbf_node ${catkin_LIBRARIES} qpOASES)
#add_executable(ecbf_node src/offboard_adjust.cpp)
#target_link_libraries(ecbf_node ${catkin_LIBRARIES} qpOASES)
#add_executable(mix_node src/offboard_mix.cpp)
#target_link_libraries(mix_node ${catkin_LIBRARIES} qpOASES)
#add_executable(joy_initial_node src/joy_initial.cpp)
#target_link_libraries(joy_initial_node ${catkin_LIBRARIES})




